Header header
uint8 numOfMotor
uint8 mode_uint             # 0(default)    1(not enabled)       2(not enabled)
float64[] joint1_7DegLists  # deg 
float64[] joint1DegList     # j1/deg        x/mm                 x/mm
float64[] joint2DegList     # j2/deg        y/mm                 y/mm
float64[] joint3DegList     # j3/deg        z/mm                 z/mm
float64[] joint4DegList     # j4/deg        euler_Z/deg          Q_w
float64[] joint5DegList     # j5/deg        euler_Y/deg          Q_x
float64[] joint6DegList     # j6/deg        euler_X/deg          Q_y
float64[] joint7DegList     # j7/deg        ____                 Q_z
float64[] timeList          # s             s                    s     
float64[] velocityList      # deg/s         mm/s                 mm/s
float64[] eleList           # mA            mA                   mA